IEEE ICRA 2020 Workshop

Workshop on Advances in Lower Limb Prostheses for Agile and Dynamic Walking

International Conference on Robotics and Automation
Palais des Congrès de Paris - FRANCE


Thursday, June 4, 2020

10:15 am EDT (2:15 pm UTC), Virtual Meeting


The workshop was recorded and can be viewed at:


Activities of daily living include dynamic gait scenarios that require high agility and maneuverability. Adjustment of the impedance of the ankle joint is a fundamental neuromuscular feature that contributes to robustness and agility in human walking. Some examples of dynamic gait scenarios are turning, traversing slopes, and adapting to uneven and compliant terrain profiles. Currently available powered lower limb prostheses are designed to improve sagittal plane mobility. However, this design strategy does not fully follow ankle function during walking because even during straight-path walking the human ankle functions in both the sagittal and frontal planes. Moreover, current control methods for lower limb prostheses do not consider the time-varying impedance of the ankle, which is a neuromuscular phenomenon that contributes to agility and stability of the gait.

This workshop goal is to foster collaboration and discussion regarding current work in the field, and the major technical barriers that must be addressed to reach our goal of high agility and increased versatility in dynamic walking for lower limb prostheses. The focus will be on prostheses for the lower extremities, including discussion of biomechanics, dynamics of gait and new technologies that can be used for agile advanced prostheses such as soft robotics and soft actuators.



Panagiotis Artemiadis, University of Delaware, USA.

Rosa H. M. Chan, City University of Hong Kong, Kowloon, Hong Kong.

Helen Huang, NC State University/ UNC Chapel Hill, USA.,

Mo Rastgaar (primary contact), Polytechnic Institute, Purdue University, USA.



Human-in-the-loop control of prostheses

Novel sensors and actuators for lower limb prostheses

Soft robotics and soft actuators

Intent recognition algorithms for gait

Biomechanics of locomotion

System identification of human joint dynamics

Rehabilitation robotics

Novel designs and control architectures for prosthetic systems for the lower limb

Clinical implications and ways of assessing functional outcome for lower limb prostheses


Speakers and Schedule:

Thursday, June 4, 2020

10:15 am EDT, (14:15 UTC),   Introduction by Mo Rastgaar

10:30 am EDT, (14:30 UTC),   Louis Flynn, Vrije Universiteit Brussel

10:45 am EDT, (14:45 UTC),   Daniel Lemus Perez​, Technische Universiteit Delft

11:00 am EDT, (15:00 UTC),   Deanna Gates​, University of Michigan

11:15 am EDT, (15:15 UTC),   Hartmut Geyer​, Carnegie Mellon University

11:30 am EDT, (15:30 UTC),   Robert Gregg​, University of Michigan

11:45 am EDT, (15:45 UTC),   Peter Adamczyk​, University of Wisconsin-Madison

12:00 pm EDT, (16:00 UTC),   Levi Hargrove​, Northwestern University

12:15 pm EDT, (16:15 UTC),   Elliott Rouse​, University of Michigan

12:30 pm EDT, (16:30 UTC),   Hyunglae Lee​, Arizona State University

12:45 pm EDT, (16:45 UTC),   Anne Silverman​, Colorado School of Mines

01:00 pm EDT, (17:00 UTC),   Jennie Si​, Arizona State University

01:15 pm EDT, (17:15 UTC),   Thomas Sugar​, Arizona State University

01:30 pm EDT, (17:30 UTC),   Panel Discussion (15 minutes)